1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
|
// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
//
// Eigen is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 3 of the License, or (at your option) any later version.
//
// Alternatively, you can redistribute it and/or
// modify it under the terms of the GNU General Public License as
// published by the Free Software Foundation; either version 2 of
// the License, or (at your option) any later version.
//
// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License and a copy of the GNU General Public License along with
// Eigen. If not, see <http://www.gnu.org/licenses/>.
#ifndef EIGEN_GEOMETRY_SSE_H
#define EIGEN_GEOMETRY_SSE_H
template<class Derived, class OtherDerived>
struct ei_quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned>
{
inline static Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
{
const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
Quaternion<float> res;
__m128 a = _a.coeffs().template packet<Aligned>(0);
__m128 b = _b.coeffs().template packet<Aligned>(0);
__m128 flip1 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,1,2,0,2),
ei_vec4f_swizzle1(b,2,0,1,2)),mask);
__m128 flip2 = _mm_xor_ps(_mm_mul_ps(ei_vec4f_swizzle1(a,3,3,3,1),
ei_vec4f_swizzle1(b,0,1,2,1)),mask);
ei_pstore(&res.x(),
_mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,ei_vec4f_swizzle1(b,3,3,3,3)),
_mm_mul_ps(ei_vec4f_swizzle1(a,2,0,1,0),
ei_vec4f_swizzle1(b,1,2,0,0))),
_mm_add_ps(flip1,flip2)));
return res;
}
};
template<typename VectorLhs,typename VectorRhs>
struct ei_cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
{
inline static typename ei_plain_matrix_type<VectorLhs>::type
run(const VectorLhs& lhs, const VectorRhs& rhs)
{
__m128 a = lhs.coeffs().packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
__m128 b = rhs.coeffs().packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
__m128 mul1=_mm_mul_ps(ei_vec4f_swizzle1(a,1,2,0,3),ei_vec4f_swizzle1(b,2,0,1,3));
__m128 mul2=_mm_mul_ps(ei_vec4f_swizzle1(a,2,0,1,3),ei_vec4f_swizzle1(b,1,2,0,3));
typename ei_plain_matrix_type<VectorLhs>::type res;
ei_pstore(&res.x(),_mm_sub_ps(mul1,mul2));
return res;
}
};
#endif // EIGEN_GEOMETRY_SSE_H
|
